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Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective multi-robot BT planning algorithms remains challenging due to the complexity of coordinating diverse action spaces. We propose the Multi-Robot Behavior Tree Planning (MRBTP) algorithm, with theoretical guarantees of both soundness and completeness. MRBTP features cross-tree expansion to coordinate heterogeneous actions across different BTs to achieve the team's goal. For homogeneous actions, we retain backup structures among BTs to ensure robustness and prevent redundant execution through intention sharing. While MRBTP is capable of generating BTs for both homogeneous and heterogeneous robot teams, its efficiency can be further improved. We then propose an optional plugin for MRBTP when Large Language Models (LLMs) are available to reason goal-related actions for each robot. These relevant actions can be pre-planned to form long-horizon subtrees, significantly enhancing the planning speed and collaboration efficiency of MRBTP. We evaluate our algorithm in warehouse management and everyday service scenarios. Results demonstrate MRBTP's robustness and execution efficiency under varying settings, as well as the ability of the pre-trained LLM to generate effective task-specific subtrees for MRBTP. more...

Many machine learning applications deal with high dimensional data. To make computations feasible and learning more efficient, it is often desirable to reduce the dimensionality of the input variables by finding linear combinations of the predictors that can retain as much original information as possible in the relationship between the response and the original predictors. We propose a neural network based sufficient dimension reduction method that not only identifies the structural dimension effectively, but also estimates the central space well. It takes advantages of approximation capabilities of neural networks for functions in Barron classes and leads to reduced computation cost compared to other dimension reduction methods in the literature. Additionally, the framework can be extended to fit practical dimension reduction, making the methodology more applicable in practical settings. more...

The emergence of large language models (LLMs) is a milestone in generative artificial intelligence, achieving significant success in text comprehension and generation tasks. Despite the tremendous success of LLMs in many downstream tasks, they suffer from severe hallucination problems, posing significant challenges to the practical applications of LLMs. Most of the works about LLMs' hallucinations focus on data quality. Self-attention is a core module in transformer-based LLMs, while its potential relationship with LLMs' hallucination has been hardly investigated. To fill this gap, we study this problem from a causal perspective. We propose a method to intervene in LLMs' self-attention layers and maintain their structures and sizes intact. Specifically, we disable different self-attention layers in several popular open-source LLMs and then compare their degrees of hallucination with the original ones. We evaluate the intervened LLMs on hallucination assessment benchmarks and conclude that disabling some specific self-attention layers in the front or tail of the LLMs can alleviate hallucination issues. The study paves a new way for understanding and mitigating LLMs' hallucinations., Comment: 15 pages, 7 figures more...

Most prior motion prediction endeavors in autonomous driving have inadequately encoded future scenarios, leading to predictions that may fail to accurately capture the diverse movements of agents (e.g., vehicles or pedestrians). To address this, we propose FutureNet, which explicitly integrates initially predicted trajectories into the future scenario and further encodes these future contexts to enhance subsequent forecasting. Additionally, most previous motion forecasting works have focused on predicting independent futures for each agent. However, safe and smooth autonomous driving requires accurately predicting the diverse future behaviors of numerous surrounding agents jointly in complex dynamic environments. Given that all agents occupy certain potential travel spaces and possess lane driving priority, we propose Lane Occupancy Field (LOF), a new representation with lane semantics for motion forecasting in autonomous driving. LOF can simultaneously capture the joint probability distribution of all road participants' future spatial-temporal positions. Due to the high compatibility between lane occupancy field prediction and trajectory prediction, we propose a novel network with future context encoding for the joint prediction of these two tasks. Our approach ranks 1st on two large-scale motion forecasting benchmarks: Argoverse 1 and Argoverse 2., Comment: 10 pages more...

Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT planning shows promise for generating reliable BTs. However, the scalability of BT planning is often constrained by prolonged planning times in complex scenarios, largely due to a lack of domain knowledge. In contrast, pre-trained Large Language Models (LLMs) have demonstrated task reasoning capabilities across various domains, though the correctness and safety of their planning remain uncertain. This paper proposes integrating BT planning with LLM reasoning, introducing Heuristic Behavior Tree Planning (HBTP)-a reliable and efficient framework for BT generation. The key idea in HBTP is to leverage LLMs for task-specific reasoning to generate a heuristic path, which BT planning can then follow to expand efficiently. We first introduce the heuristic BT expansion process, along with two heuristic variants designed for optimal planning and satisficing planning, respectively. Then, we propose methods to address the inaccuracies of LLM reasoning, including action space pruning and reflective feedback, to further enhance both reasoning accuracy and planning efficiency. Experiments demonstrate the theoretical bounds of HBTP, and results from four datasets confirm its practical effectiveness in everyday service robot applications. more...

Robots executing tasks following human instructions in domestic or industrial environments essentially require both adaptability and reliability. Behavior Tree (BT) emerges as an appropriate control architecture for these scenarios due to its modularity and reactivity. Existing BT generation methods, however, either do not involve interpreting natural language or cannot theoretically guarantee the BTs' success. This paper proposes a two-stage framework for BT generation, which first employs large language models (LLMs) to interpret goals from high-level instructions, then constructs an efficient goal-specific BT through the Optimal Behavior Tree Expansion Algorithm (OBTEA). We represent goals as well-formed formulas in first-order logic, effectively bridging intent understanding and optimal behavior planning. Experiments in the service robot validate the proficiency of LLMs in producing grammatically correct and accurately interpreted goals, demonstrate OBTEA's superiority over the baseline BT Expansion algorithm in various metrics, and finally confirm the practical deployability of our framework. The project website is https://dids-ei.github.io/Project/LLM-OBTEA/. more...

Optimizing the morphologies and the controllers that adapt to various tasks is a critical issue in the field of robot design, aka. embodied intelligence. Previous works typically model it as a joint optimization problem and use search-based methods to find the optimal solution in the morphology space. However, they ignore the implicit knowledge of task-to-morphology mapping which can directly inspire robot design. For example, flipping heavier boxes tends to require more muscular robot arms. This paper proposes a novel and general differentiable task-inspired framework for contact-aware robot design called Task2Morph. We abstract task features highly related to task performance and use them to build a task-to-morphology mapping. Further, we embed the mapping into a differentiable robot design process, where the gradient information is leveraged for both the mapping learning and the whole optimization. The experiments are conducted on three scenarios, and the results validate that Task2Morph outperforms DiffHand, which lacks a task-inspired morphology module, in terms of efficiency and effectiveness., Comment: 9 pages, 10 figures, published to IROS more...

Given data with noisy labels, over-parameterized deep networks suffer overfitting mislabeled data, resulting in poor generalization. The memorization effect of deep networks shows that although the networks have the ability to memorize all noisy data, they would first memorize clean training data, and then gradually memorize mislabeled training data. A simple and effective method that exploits the memorization effect to combat noisy labels is early stopping. However, early stopping cannot distinguish the memorization of clean data and mislabeled data, resulting in the network still inevitably overfitting mislabeled data in the early training stage.In this paper, to decouple the memorization of clean data and mislabeled data, and further reduce the side effect of mislabeled data, we perform additive decomposition on network parameters. Namely, all parameters are additively decomposed into two groups, i.e., parameters $\mathbf{w}$ are decomposed as $\mathbf{w}=\bm{\sigma}+\bm{\gamma}$. Afterward, the parameters $\bm{\sigma}$ are considered to memorize clean data, while the parameters $\bm{\gamma}$ are considered to memorize mislabeled data. Benefiting from the memorization effect, the updates of the parameters $\bm{\sigma}$ are encouraged to fully memorize clean data in early training, and then discouraged with the increase of training epochs to reduce interference of mislabeled data. The updates of the parameters $\bm{\gamma}$ are the opposite. In testing, only the parameters $\bm{\sigma}$ are employed to enhance generalization. Extensive experiments on both simulated and real-world benchmarks confirm the superior performance of our method., Comment: Accepted by IEEE T-PAMI more...

Recently, formal verification of deep neural networks (DNNs) has garnered considerable attention, and over-approximation based methods have become popular due to their effectiveness and efficiency. However, these strategies face challenges in addressing the "unknown dilemma" concerning whether the exact output region or the introduced approximation error violates the property in question. To address this, this paper introduces the UR4NNV verification framework, which utilizes under-approximation reachability analysis for DNN verification for the first time. UR4NNV focuses on DNNs with Rectified Linear Unit (ReLU) activations and employs a binary tree branch-based under-approximation algorithm. In each epoch, UR4NNV under-approximates a sub-polytope of the reachable set and verifies this polytope against the given property. Through a trial-and-error approach, UR4NNV effectively falsifies DNN properties while providing confidence levels when reaching verification epoch bounds and failing falsifying properties. Experimental comparisons with existing verification methods demonstrate the effectiveness and efficiency of UR4NNV, significantly reducing the impact of the "unknown dilemma"., Comment: 11 pages, 4 figures more...

Adapting models deployed to test distributions can mitigate the performance degradation caused by distribution shifts. However, privacy concerns may render model parameters inaccessible. One promising approach involves utilizing zeroth-order optimization (ZOO) to train a data adaptor to adapt the test data to fit the deployed models. Nevertheless, the data adaptor trained with ZOO typically brings restricted improvements due to the potential corruption of data features caused by the data adaptor. To address this issue, we revisit ZOO in the context of test-time data adaptation. We find that the issue directly stems from the unreliable estimation of the gradients used to optimize the data adaptor, which is inherently due to the unreliable nature of the pseudo-labels assigned to the test data. Based on this observation, we propose pseudo-label-robust data adaptation (SODA) to improve the performance of data adaptation. Specifically, SODA leverages high-confidence predicted labels as reliable labels to optimize the data adaptor with ZOO for label prediction. For data with low-confidence predictions, SODA encourages the adaptor to preserve data information to mitigate data corruption. Empirical results indicate that SODA can significantly enhance the performance of deployed models in the presence of distribution shifts without requiring access to model parameters. more...

Neural networks (NNs) are increasingly applied in safety-critical systems such as autonomous vehicles. However, they are fragile and are often ill-behaved. Consequently, their behaviors should undergo rigorous guarantees before deployment in practice. In this paper, we propose a set-boundary reachability method to investigate the safety verification problem of NNs from a topological perspective. Given an NN with an input set and a safe set, the safety verification problem is to determine whether all outputs of the NN resulting from the input set fall within the safe set. In our method, the homeomorphism property and the open map property of NNs are mainly exploited, which establish rigorous guarantees between the boundaries of the input set and the boundaries of the output set. The exploitation of these two properties facilitates reachability computations via extracting subsets of the input set rather than the entire input set, thus controlling the wrapping effect in reachability analysis and facilitating the reduction of computation burdens for safety verification. The homeomorphism property exists in some widely used NNs such as invertible residual networks (i-ResNets) and Neural ordinary differential equations (Neural ODEs), and the open map is a less strict property and easier to satisfy compared with the homeomorphism property. For NNs establishing either of these properties, our set-boundary reachability method only needs to perform reachability analysis on the boundary of the input set. Moreover, for NNs that do not feature these properties with respect to the input set, we explore subsets of the input set for establishing the local homeomorphism property and then abandon these subsets for reachability computations. Finally, some examples demonstrate the performance of the proposed method., Comment: 25 pages, 11 figures. arXiv admin note: substantial text overlap with arXiv:2210.04175 more...

Classifier-free guidance is an effective sampling technique in diffusion models that has been widely adopted. The main idea is to extrapolate the model in the direction of text guidance and away from null-text guidance. In this paper, we demonstrate that null-text guidance in diffusion models is secretly a cartoon-style creator, i.e., the generated images can be efficiently transformed into cartoons by simply perturbing the null-text guidance. Specifically, we proposed two disturbance methods, i.e., Rollback disturbance (Back-D) and Image disturbance (Image-D), to construct misalignment between the noisy images used for predicting null-text guidance and text guidance (subsequently referred to as \textbf{null-text noisy image} and \textbf{text noisy image} respectively) in the sampling process. Back-D achieves cartoonization by altering the noise level of null-text noisy image via replacing $x_t$ with $x_{t+\Delta t}$. Image-D, alternatively, produces high-fidelity, diverse cartoons by defining $x_t$ as a clean input image, which further improves the incorporation of finer image details. Through comprehensive experiments, we delved into the principle of noise disturbing for null-text and uncovered that the efficacy of disturbance depends on the correlation between the null-text noisy image and the source image. Moreover, our proposed techniques, which can generate cartoon images and cartoonize specific ones, are training-free and easily integrated as a plug-and-play component in any classifier-free guided diffusion model. Project page is available at \url{https://nulltextforcartoon.github.io/}., Comment: Accepted by ACM MM 2023 more...

The increasing use of deep neural networks (DNNs) in safety-critical systems has raised concerns about their potential for exhibiting ill-behaviors. While DNN verification and testing provide post hoc conclusions regarding unexpected behaviors, they do not prevent the erroneous behaviors from occurring. To address this issue, DNN repair/patch aims to eliminate unexpected predictions generated by defective DNNs. Two typical DNN repair paradigms are retraining and fine-tuning. However, existing methods focus on the high-level abstract interpretation or inference of state spaces, ignoring the underlying neurons' outputs. This renders patch processes computationally prohibitive and limited to piecewise linear (PWL) activation functions to great extent. To address these shortcomings, we propose a behavior-imitation based repair framework, BIRDNN, which integrates the two repair paradigms for the first time. BIRDNN corrects incorrect predictions of negative samples by imitating the closest expected behaviors of positive samples during the retraining repair procedure. For the fine-tuning repair process, BIRDNN analyzes the behavior differences of neurons on positive and negative samples to identify the most responsible neurons for the erroneous behaviors. To tackle more challenging domain-wise repair problems (DRPs), we synthesize BIRDNN with a domain behavior characterization technique to repair buggy DNNs in a probably approximated correct style. We also implement a prototype tool based on BIRDNN and evaluate it on ACAS Xu DNNs. Our experimental results show that BIRDNN can successfully repair buggy DNNs with significantly higher efficiency than state-of-the-art repair tools. Additionally, BIRDNN is highly compatible with different activation functions., Comment: 12 pages, 3 figures more...

The advent of open-source AI communities has produced a cornucopia of powerful text-guided diffusion models that are trained on various datasets. While few explorations have been conducted on ensembling such models to combine their strengths. In this work, we propose a simple yet effective method called Saliency-aware Noise Blending (SNB) that can empower the fused text-guided diffusion models to achieve more controllable generation. Specifically, we experimentally find that the responses of classifier-free guidance are highly related to the saliency of generated images. Thus we propose to trust different models in their areas of expertise by blending the predicted noises of two diffusion models in a saliency-aware manner. SNB is training-free and can be completed within a DDIM sampling process. Additionally, it can automatically align the semantics of two noise spaces without requiring additional annotations such as masks. Extensive experiments show the impressive effectiveness of SNB in various applications. Project page is available at https://magicfusion.github.io/., Comment: Accepted by ICCV 2023 more...

Credit assignment problem of neural networks refers to evaluating the credit of each network component to the final outputs. For an untrained neural network, approaches to tackling it have made great contributions to parameter update and model revolution during the training phase. This problem on trained neural networks receives rare attention, nevertheless, it plays an increasingly important role in neural network patch, specification and verification. Based on Koopman operator theory, this paper presents an alternative perspective of linear dynamics on dealing with the credit assignment problem for trained neural networks. Regarding a neural network as the composition of sub-dynamics series, we utilize step-delay embedding to capture snapshots of each component, characterizing the established mapping as exactly as possible. To circumvent the dimension-difference problem encountered during the embedding, a composition and decomposition of an auxiliary linear layer, termed minimal linear dimension alignment, is carefully designed with rigorous formal guarantee. Afterwards, each component is approximated by a Koopman operator and we derive the Jacobian matrix and its corresponding determinant, similar to backward propagation. Then, we can define a metric with algebraic interpretability for the credit assignment of each network component. Moreover, experiments conducted on typical neural networks demonstrate the effectiveness of the proposed method., Comment: 9 pages, 4 figures more...

Neural networks (NNs) are increasingly applied in safety-critical systems such as autonomous vehicles. However, they are fragile and are often ill-behaved. Consequently, their behaviors should undergo rigorous guarantees before deployment in practice. In this paper we propose a set-boundary reachability method to investigate the safety verification problem of NNs from a topological perspective. Given an NN with an input set and a safe set, the safety verification problem is to determine whether all outputs of the NN resulting from the input set fall within the safe set. In our method, the homeomorphism property of NNs is mainly exploited, which establishes a relationship mapping boundaries to boundaries. The exploitation of this property facilitates reachability computations via extracting subsets of the input set rather than the entire input set, thus controlling the wrapping effect in reachability analysis and facilitating the reduction of computation burdens for safety verification. The homeomorphism property exists in some widely used NNs such as invertible NNs. Notable representations are invertible residual networks (i-ResNets) and Neural ordinary differential equations (Neural ODEs). For these NNs, our set-boundary reachability method only needs to perform reachability analysis on the boundary of the input set. For NNs which do not feature this property with respect to the input set, we explore subsets of the input set for establishing the local homeomorphism property, and then abandon these subsets for reachability computations. Finally, some examples demonstrate the performance of the proposed method., Comment: 19 pages, 7 figures more...